It would probably be better to just implement continuous current (proportional to torque which is proportional to force up/down) limiting on the motor, that wou

It would probably be better to just implement continuous current (proportional to torque which is proportional to force up/down) limiting on the motor, that would prevent the desk from pushing up or down at a force that could injure someone. Not sure if this is directly controlling the motor or just communicating with the actual motor controller. If the motor controller is separate it may already do this.